CN110144990A - For the operating device of tool and the tool with corresponding operating device - Google Patents
For the operating device of tool and the tool with corresponding operating device Download PDFInfo
- Publication number
- CN110144990A CN110144990A CN201910108376.7A CN201910108376A CN110144990A CN 110144990 A CN110144990 A CN 110144990A CN 201910108376 A CN201910108376 A CN 201910108376A CN 110144990 A CN110144990 A CN 110144990A
- Authority
- CN
- China
- Prior art keywords
- control unit
- operating device
- attachment
- manual control
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
- B66C13/56—Arrangements of handles or pedals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Transportation (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Control Devices (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to a kind of for operating the operating device of the tool at least one attachment, the operating device includes at least one manual control unit and at least one controller/adjuster, wherein controller/adjuster is equipped to the single control motion actuation attachment based on manual control unit, it can be detected by the single detection device being arranged on manual control unit, to carry out linear movement.
Description
The present invention relates to a kind of for operating the operating device of the tool at least one attachment comprising at least one
Manual control unit and at least one controller/adjuster.
The known operating device for operational instrument (such as excavator) usually may include two behaviour from the prior art
Vertical pole, each control stick can be pivoted around two axis.These control sticks can be used for operating equipment or tool and, for example, setting exists
The key operation campaign of attachment on tool.
How to be moved depending on control stick or control stick is rotated along which axis, the cylinder or actuator of tool are for example logical
Controller/adjuster actuating is crossed, to adjust accordingly tool and/or attachment.
In the case where can be by the multiple actuators being arranged in work jibs mobile attachment, operator may be necessary
Such as by superposition or simultaneously in a manner of connect or drive these actuators one by one, with the fitments needed for realizing.
Disadvantage here is in order to execute this superimposed motion, operator must be carried out by one or more control sticks
Clumsy control campaign, it is therefore necessary to which there is corresponding experience or corresponding ability.
In this context, the object of the present invention is to provide a kind of simplification or logic operation means for operational instrument,
Particularly can also easily it be used by beginner or interim operator.
According to the present invention, which is solved by the operating device of the feature with claim 1.Advantageous embodiment is
The theme of dependent claims.
It thus provides a kind of for operating the operating device of the tool at least one attachment, including at least one
Manual control unit and at least one controller/adjuster, wherein controller/adjuster is equipped to based on manual control unit
Single control motion actuation attachment, the movement can be detected by the single detection device being arranged on manual control unit, with into
Row linear movement.
The single control movement of manual control unit is limited by the single movement or deflection of manual control unit herein, can
It is detected by the single detection device being arranged on manual control unit.Detection device only detects single linear or rotation control fortune
It is dynamic.
Although this single control movement is used for the actuating and movement of the single actuator of tool according to the prior art,
Rotary motion or rotational motion are realized by it and therefore do not realize the linear movement of attachment, operations according to the instant invention device
Controller/adjuster generate linear movement attachment control signal.
Certainly, manual control unit can be configured so that in the case of deflection it and meanwhile detect more than one single
Control movement, however according to the present invention, this realizes the superposition linear movement of the respective numbers of attachment in turn.
In a preferred embodiment of the invention, it is contemplated that first manual control unit is provided as along each other
Vertical first axle and second axis mobile accessory, and surround and be parallel to first axle or second axis and and first axle
Or the third axis rotary attachment that second axis is spaced apart.
For example, first manual control unit is configurable to control-rod or control stick, wherein it can be equipped to along two
Rotation axis executes at least partly spherical movement.By controller/adjuster, the movement along two rotation axis can be converted
At control signal, control signal is moved along orthogonal axis.
For example, when operation of the first manual control unit based on tool or direction of observation are mobile or when rotating forward, manually
This deflection of control unit can be converted the signal of linear movement attachment forward.This be equally applicable to manual control unit to
After pivot.
When manual control unit is moved to the left or right or is rotated, manual control unit is real by controller/adjuster
Existing this movement can be used for generating control signal, and control signal control attachment is according to the observation of tool or operating direction execution
Leftward or rightward linear movement.In the case where the superimposed motion of manual control unit, being overlapped mutually for attachment can be indicated
Linear movement.
The observation of tool or operating direction can be the Main way of tool, wherein be for example disposed with tool operation arm and/
Or top plate.
In a further advantageous embodiment, it is contemplated that attachment can be activated by proportional control element to rotate.
In the especially preferred embodiments, it may be provided that, at least one operation control unit includes ratio control member
Part.
It, can the member of Set scale control on it when manual control unit is for example configured as control stick or control-rod
Part.Proportional control element for example can be sliding part, which can be by the thumb-actuated of finger or hand with rotary attachment.
In addition, proportional control element may include re-positioning device, when control element is not activated by operator, this is heavy
Control element is placed in neutral position by new definition device.The neutral position of control element can be definition, because not controlling
The position and/or direction that signal is output to tool perhaps tool or attachment do not change.
In a further advantageous embodiment, it is contemplated that the second manual control unit is equipped to make attachment around at least
One axis rotation.
When attachment is, for example, the power shovel of excavator, scraper bowl can by means of the second operation control unit relative to
Digger arm rotation, for picking up and putting down material.
In a particularly preferred embodiment, it can be stated that the second manual control unit is equipped to make attachment around at least
Two particularly axis rotations arranged substantially perpendicular to each other.Rotatable attachment, which for example can be, in this way passes through Sloped rotating
The attachment that device can be pivoted correspondingly.Second manual control unit correspondingly can produce the letter of the control for controlling Sloped rotating device
Number.
In another preferred embodiment of the invention, it is contemplated that at least one manual control unit part or
All it is removably installed.This further include manual control unit handle portion correspondingly relative to manual control unit in addition
Structure installation.This at least partly linear support of manual control unit reproduces the linear position of reality of attachment in a better way
It moves, that is, the common manual control unit than being predominantly or exclusively pivotally mounted more matches.
In a further advantageous embodiment, it is contemplated that at least one manual control unit and controller/adjuster
Be equipped to by manual control unit single control movement in a single direction simultaneously actuating instrument and/or attachment more than one
A actuator.
As described above, the term of the single control movement of manual control unit here means that individual manual control unit
Detection device detect corresponding linear or rotary motion.Of course, it is possible to be arranged on manual control unit more than one
Detection device, so that the superimposed motion of manual control unit still can be converted into tool and/or attached by controller/adjuster
The corresponding superposition but linear movement of part.In a further advantageous embodiment, it is believed that the tool is excavator.
The invention further relates to a kind of tool, especially a kind of excavator, including at least one is according to claim 1 in 8
Described in any item operating devices.
Further details and advantages of the present invention will be explained with reference to the embodiment being illustrated by way of example in attached drawing.In attached drawing
In:
Fig. 1: left side manual control unit and its direction of motion are shown；
Fig. 2: the distribution that control unit is moved in mechanical movement to left side is shown；
Fig. 3: showing right side manual control unit and its direction of motion, and
Fig. 4: the movement of tool distribution of right side manual control unit is shown.
Fig. 1 show operations according to the instant invention device manual control unit and its direction of motion indicated by an arrow.
Shown in manual control unit 1 can be the left side control unit 1 in two manual control units of such as operating device.
As shown in Figure 1, manual control unit 1 can be moved or be pivoted along two axis arranged perpendicularly to each other, and
It can also include control element 6, which can be pivoted in two directions by the thumb of finger or hand.
From figure 2 it can be seen that the pivot of control element 6 can control the rotation of the top plate of tool, and manually control list
Member can be used for activating the linear of attachment (such as 7 scraper bowl 8 of excavator of tool) along the movement of orthogonal axis 2,3 and can
The stackable movement of energy.
In traditional mechanical control unit, the hand of operator is moved up in the circular path described by two rotation axis
It is dynamic, and for each axis, the movement of tool is controlled, and movement described herein can be linear, possible stackable
Path on realize.Actuating can be realized on the contrary.This means that swing arm also may be implemented since especially linear hands movement
And/or the linear movement of attachment or usual tool.For this purpose, can be activated in a manner of superposition swing arm, dipper-arm, scraper bowl and/or
Each movement of adjustable swing arm.
Hereinafter, the function of two manual control units will be explained.As already mentioned, the linear movement of tool can also
By being triggered for for example linear hand exercise.
Left side manual control unit 1 can determine swing arm and mechanical movement.In fig. 1 it is shown that Main way.In addition to
Except two especially linear and interaction directions of motion, rotatable actuating member 6 is additionally provided.Excavator is moved to actuating
The distribution that component 6 moves is as shown in Figure 2.
Due to Reverse Turning Control, joint is no longer individually moved and the no longer individually actuating of actuator 6, but directly controls attachment
(such as cut edge at scraper bowl 8).The rotation of top plate can be realized by finger actuated proportional control element.
Right side manual control unit 12 shown in Fig. 3 can operate attachment.Therefore, right side control element 12 can configure
For rotary motion.The freedom degree of control element corresponds to the movement of most common attachment (such as scraper bowl and/or Sloped rotating device)
It learns.
Operating for axis 10,11 shown in dotted lines in Figure 3 can be by tension force rather than by the inclined of control element
Transfer realization.In the case where rotary motion, this operation provides the ergonomics of better control element.
The motion assignment of right side manual control unit 12 can be obtained from Fig. 4.
Rather than current both hands operating lever operation (Europe control), the both hands operation of substitution is considered here.Necessary control
Element processed can resonantly be arranged on the pilot set above spring assembly and can be adjusted relative to driver.Control
The arrangement and design of element processed can be realized according to ergonomic designs' principle.Furthermore, it is possible to be arranged on seat system aobvious
Show device.
Mechanical simplification and logical operation for beginner and interim operator corresponds to operating principle of the invention.For
This, replaces the traditional structure of Europe control and cell encoder.In traditional mechanical control unit, hand is moved up in circular path
It is dynamic, and one, every axis movement or an actuator are controlled, and movement described herein should carry out on linear path.On the contrary
Realize actuating in ground.
This means that also achieving the linear movement of swing arm and attachment since especially linear hands movement.For this purpose,
Each movement of swing arm, dipper-arm, scraper bowl and/or adjustable swing arm is activated in a manner of being superimposed.As mechanically operated into one
Step simplifies, and can provide study course and HELPER APPLICATIONS for mechanical and attachment.
Bucket tilt movement can be controlled by right side manual control element.When using Sloped rotating device, Yi Zhongfang
Method is that rotation and banking motion are activated in a manner of tension force.Tension direction is expressed as imaginary circle arc in Fig. 3.
Claims (10)
1. a kind of for by the operating device of at least one accessory operation tool, including at least one manual control unit (1,
12) and at least one controller/adjuster (6), which is characterized in that the controller/adjuster (6) is equipped to based on the hand
Attachment described in the single control motion actuation of dynamic control unit (1,12), can be by setting described manual to carry out linear movement
The single detection device detection single control movement in control unit (1,12).
2. operating device according to claim 1, which is characterized in that first manual control unit (1) is equipped to along that
This vertical first axle (2) and the mobile attachment of second axis (3), and the first manual control unit (1) makes institute
State attachment around third axis rotate, the third axis be parallel to the first axle (2) or the second axis (3) and with
The first axle (2) or the second axis (2) are spaced apart.
3. operating device according to claim 1 or 2, which is characterized in that the attachment can pass through proportional control element (6)
Actuating is to rotate.
4. operating device according to claim 3, which is characterized in that at least one manual control unit (1,12) packet
Include the proportional control element.
5. operating device according to claim 2, which is characterized in that the second manual control unit (1,12) is equipped to make institute
Attachment is stated to rotate around at least one axis.
6. operating device according to claim 5, which is characterized in that second manual control unit (1,12) is equipped to
Make the attachment around at least two particularly axis rotations arranged perpendicularly to each other.
7. operating device according to any one of the preceding claims, which is characterized in that it is described at least one manually control
Unit (1,12) is partly or entirely removably installed.
8. operating device according to any one of the preceding claims, which is characterized in that it is described at least one manually control
Unit (1,12) and the controller/adjuster (6) are equipped to activate the more than one actuating of the tool and/or the attachment
Device, while the manual control unit (1,12) carries out individually controlling movement in a single direction.
9. operating device according to any one of the preceding claims, which is characterized in that the tool is excavator (7).
10. a kind of tool, especially with the digging of at least one operating device according to any one of claim 1 to 8
Pick machine (7).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE202018100592.8 | 2018-02-02 | ||
| DE202018100592.8U DE202018100592U1 (en) | 2018-02-02 | 2018-02-02 | Operating device for a working device and working device with appropriate operating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110144990A true CN110144990A (en) | 2019-08-20 |
| CN110144990B CN110144990B (en) | 2022-07-26 |
Family
ID=64664156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910108376.7A Active CN110144990B (en) | 2018-02-02 | 2019-02-01 | Operating device for a tool and tool having a corresponding operating device |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US11261580B2 (en) |
| EP (1) | EP3521518B1 (en) |
| CN (1) | CN110144990B (en) |
| DE (1) | DE202018100592U1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11919756B2 (en) * | 2020-02-04 | 2024-03-05 | Xtreme Manufacturing, Llc | Aerial work vehicle boom auxiliary control panel |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4553448A (en) * | 1983-06-02 | 1985-11-19 | J. I. Case Company | Dual-rate control assembly |
| DE68904180D1 (en) * | 1988-12-20 | 1993-02-11 | Kobe Steel Ltd | CONTROL LEVER FOR AN EARTHMOVER. |
| US5424623A (en) * | 1993-05-13 | 1995-06-13 | Caterpillar Inc. | Coordinated control for a work implement |
| CN101639121A (en) * | 2008-07-29 | 2010-02-03 | 迪尔公司 | Lever lockout assembly |
| US20130180744A1 (en) * | 2012-01-12 | 2013-07-18 | Caterpillar, Inc. | Operator Interface for an Implement Control System |
| CN105320209A (en) * | 2014-06-18 | 2016-02-10 | J.C.班福德挖掘机有限公司 | Joystick assembly for a work machine |
| CN105620316A (en) * | 2014-11-21 | 2016-06-01 | 格拉默股份有限公司 | Vehicle seat with a backrest that can be pivoted including armrest |
| CN107002389A (en) * | 2016-04-08 | 2017-08-01 | 株式会社小松制作所 | Control system, control method and the working truck of working truck |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4685678A (en) * | 1982-08-13 | 1987-08-11 | Bally Manufacturing Corporation | Position transducer system for a joystick |
| US6000563A (en) * | 1997-09-08 | 1999-12-14 | Greenberg; Alan | Sideboom assembly |
| DE102008034602B3 (en) * | 2008-07-25 | 2009-12-31 | Preh Gmbh | Translationally operated joystick |
| EP2860315B1 (en) * | 2012-06-08 | 2024-07-31 | Sumitomo Heavy Industries, Ltd. | Excavator control method and control device |
| GB2514346B (en) * | 2013-05-20 | 2017-02-08 | Jc Bamford Excavators Ltd | Working machine and control system |
-
2018
- 2018-02-02 DE DE202018100592.8U patent/DE202018100592U1/en active Active
- 2018-12-10 EP EP18211333.2A patent/EP3521518B1/en active Active
-
2019
- 2019-02-01 CN CN201910108376.7A patent/CN110144990B/en active Active
- 2019-02-04 US US16/267,308 patent/US11261580B2/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4553448A (en) * | 1983-06-02 | 1985-11-19 | J. I. Case Company | Dual-rate control assembly |
| DE68904180D1 (en) * | 1988-12-20 | 1993-02-11 | Kobe Steel Ltd | CONTROL LEVER FOR AN EARTHMOVER. |
| US5424623A (en) * | 1993-05-13 | 1995-06-13 | Caterpillar Inc. | Coordinated control for a work implement |
| CN101639121A (en) * | 2008-07-29 | 2010-02-03 | 迪尔公司 | Lever lockout assembly |
| US20130180744A1 (en) * | 2012-01-12 | 2013-07-18 | Caterpillar, Inc. | Operator Interface for an Implement Control System |
| CN105320209A (en) * | 2014-06-18 | 2016-02-10 | J.C.班福德挖掘机有限公司 | Joystick assembly for a work machine |
| CN105620316A (en) * | 2014-11-21 | 2016-06-01 | 格拉默股份有限公司 | Vehicle seat with a backrest that can be pivoted including armrest |
| CN107002389A (en) * | 2016-04-08 | 2017-08-01 | 株式会社小松制作所 | Control system, control method and the working truck of working truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110144990B (en) | 2022-07-26 |
| RU2019102819A (en) | 2020-08-03 |
| US20190242094A1 (en) | 2019-08-08 |
| EP3521518A1 (en) | 2019-08-07 |
| US11261580B2 (en) | 2022-03-01 |
| DE202018100592U1 (en) | 2019-05-03 |
| RU2019102819A3 (en) | 2022-03-05 |
| EP3521518B1 (en) | 2021-10-13 |
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